JPH03213287A - Robot hand - Google Patents

Abstract

PURPOSE:To enable the holding of such heterogeneous parts as different in size and form by using a rack and a pinion an opening or closing a claw and a vacuum pat by means of drive of a rotary actuator. CONSTITUTION:When the form of a work is of sheet form, it is difficult to hold the work between claws 8a and 8b they are slippery. In a suchlike case, the platelike work 16 is attracted to and held by vacuum pats 13a, 13b being attached to these claws 8a, 8b. In addition, when this plate work 16 is long in size, a stop bolt 14 is adjusted whereby even if a distance between these vacuum pats 13a and 13b becomes longer it is able to cope with the long work.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a robot hand that can grip workpieces having different shapes such as cylindrical, rectangular, and thin plate shapes.

[Conventional technology]

An example of a conventional robot hand will be described below.

An example of the configuration of a robot hand for grasping parts having a cylindrical or square workpiece shape is shown in Japanese Patent Laid-Open No. 60-59089.

In the above-mentioned known examples, there are hands for gripping the outer diameter and gripping hands for the inner diameter. The only difference between these two is that the direction of action of the chuck jaws is reversed, but the principle of operation is the same.

In operation, when the cylinder is driven, the fingers are moved in parallel and opened through the swinging of a lever consisting of a parallel link mechanism.

Then, when the drive of the cylinder is cut off in a state where the opening exceeds the outer diameter of the part to be gripped, the fingers are moved in parallel by the spring force of the tension spring and can grip the part.

9. When the workpiece shape is plate-like, JP-A-60-8821
2') i) As shown in the publication, lower the driver # equipment extension member and press the tapered surface of the lower end of the bottle into the through hole. This is K
2) The chuck body and the article to be attracted are positioned through the bottle and the through hole, and the through hole is closed by the tapered surface of the bottle and the internal space of the sleeve is sealed, so a vacuum source is placed in this space. When V is connected, the article is vacuum-adsorbed.

[Problem to be solved by the invention]

Like the above-mentioned prior art, Japanese Patent Laid-Open No. 60-19089 uses a link mechanism to open and close the claws.

(This method is used to grasp cylindrical or square shaped parts.) The other Japanese Patent Application Laid-Open No. 60-88212 uses a vacuum pad to vacuum-suck a plate-shaped workpiece.

Both of the above two patent publications have the disadvantage that only one shape can be grasped.

An object of the present invention is to provide a robot hand that can grasp irregularly shaped parts such as cylindrical, star-shaped, and thin plate-like parts of different sizes.

[Means to solve the problem]

To achieve the above purpose, it is rounded, and a vacuum pad is attached near the nail, so the shape is cylindrical or square.

Also, it is possible to grasp thin plate-like workpieces. moreover,
By controlling the movement stroke of the rack with a stop bolt, parts of different sizes can be grasped.

[Effect]

In the present invention, a workpiece having a cylindrical shape or a rectangular shape can be grasped by pinching it with the claws.

Furthermore, since a vacuum suction pad is attached to a portion of the claw, thin plate-shaped workpieces can be grabbed by vacuum suction, so there is no need to change the shape of the hand for each shape.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 to 3.

As shown in Fig. wcI, the rails 4 of the LM guide 5 for sliding on the racks 7a and 7b1 are fixed in two rows on the left and right on the upper surface of the seven frames 10. In addition, a rotary actuator 2 is fixed to the center of the frame 1 with bolts 5.
Attach the pinion 6 to the tip of the rotary actuator 2 and rack 7&.

It is engaged with 7b.

Two 7m racks on the left and right placed on LM guide 5
, 7bK has claws 8m and 8b attached.

In addition, a slide shaft 10 is attached to the claws 8 a e 8 b.
is fixed with a retaining ring 11 for the shaft. Slide shaft 1
A vacuum pad 15 is attached to the tip of the vacuum pad 15 so that when the vacuum pad 15 comes into contact with the plate-shaped workpiece 16iC shown in FIG. , a spring 12 is interposed for the purpose of giving flexibility to the vacuum pad 13.

Next, its operation will be explained.

When the rotary actuator 2 is turned, the pinion 6 attached to the shaft of the rotary actuator 2 turns, and the racks 7a and 7b meshed with the pinion 6 move until they hit the stop bolt 14. rack 7a,
Claws 8 a e 8 b are fixed to 7 b, and the claws 8 a and 8 b open as the rack 7 a #7 b moves.

Next, the operation will be explained using one cylindrical workpiece as an example.

As shown in FIG. 1, use the rotary actuator 2 to rotate the rack 7m + 7b until it hits the stop bolt 14, and open the claws 8a and 8b slightly more than the outer diameter of the cylindrical workpiece 9. Hold the cylindrical workpiece 9 with both claws am,
If the rotary actuator 2 is moved back a little in the opposite direction after clamping with ab, one cylindrical workpiece 9 can be clamped with the claws 8a*8b. (To prevent the cylindrical workpiece 9 from being damaged even if it receives excessive force, the claws 6a
*It is attached to 8b).

Moreover, when the shape of the work is a thin plate, the claw 8a.

It is difficult to pinch with 8b because the claws 8a + 8b slip. In such a case, as shown in Figure 3, the claw 8
Vacuum pad 13a attached to a + 8 b.

If the plate-shaped workpiece 16 is suctioned by 15b, it will not be possible to grip it. Furthermore, if the length of the plate-like workpiece 16 is long, by adjusting the stop bolt 14, the vacuum pads 15m and 15m can be adjusted.
The distance b is increased, making it possible to handle long workpieces.

Further, as shown in FIG. 4, when the cylindrical workpiece 9 is gripped by the claws 8a and 8b, the vacuum pad j3a is pressed.

The plate-like workpiece 16 can also be vacuum-adsorbed using the actuator 15b.

In this way, the rotary actuator, rack, and pinion make up a compact structure, and the rotary actuator drives the claws to open and close the claws to grasp cylindrical workpieces, and plate-shaped workpieces that cannot be grasped with the claws are used with vacuum pads. Adsorb.

Therefore, the robot hand does not have to be replaced even if the shape is different.

〔Effect of the invention〕

According to the present invention, cylindrical or square-shaped workpieces, as well as plate-shaped workpieces, can be reliably gripped without changing the type of hand.

[Brief explanation of drawings]

FIG. 1 is a front view of a robot hand according to an embodiment of the present invention;
2 is a view taken along arrow 1-1 in FIG. 1, FIG. 5 is an explanatory diagram showing a state in which a plate-shaped workpiece is sucked by a vacuum pad, and FIG. 4 is a cylindrical workpiece being gripped by a claw. FIG. 3 is an explanatory diagram showing a state in which a plate-shaped workpiece is attracted by a vacuum pad. Explanation of codes 1...Frame, 2...Rotary actuation! -/,
5... Bolt, 4... Rail, 5... LM guide, 6... Pinion, 7a, 7b... Rack, 8a,
8b...nails? ... Cylindrical workpiece, 10 ... Slide shaft, 11 ... Retaining ring, 12 ... Spring,
13m, 15b - Vacuum system 50 Reed 40

Claims (1)

[Claims] 1. In the hand of the robot, a rack and pinion are used to open and close claws and vacuum pads, driven by a rotary actuator, so that irregularly shaped parts of different sizes and shapes can be grasped. A robot hand characterized by being configured as follows.